CN101484824B - System and/or method for determining sufficiency of pseudorange measurements - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
Abstract
The subject matter disclosed herein relates to a system and method for determining a sufficiency of measurements for locating positions. In one example, although claimed subject matter is not so limited, a process to improve accuracy of pseudorange measurements may be terminated in response to a weighting of quantitative assessments of at least some of such pseudorange measurements.
Description
The application requires the U.S. Provisional Application S/N.60/802 that jointly awaits the reply that is entitled as " An Improved MeasurementSufficiency Test for GPS Searches Using a Plurality of Search Modes (measuring adequacy test to using the modified of the GPS search of multiple search pattern) " submitting on March 19th, 2006,020 rights and interests and be its non-provisional application, this application is transferred to the application's assignee and general ground integral body and quotes and include in this.
Background
field:
Theme disclosed herein relates to based on determine the location of position from the signal that position location satellite receives over the ground.
information:
Global position system (SPS) typically comprises the system of earth orbit satellite, this system make each entity can be at least in part based on from these satellite receptions to signal determine its location on earth.Each so SPS satellite typically launch with the signal of pseudo noise (PN) code labeling that makes 1,023 chip of the repetition that this satellite and other SPS satellites differentiate, wherein every millisecond of this 1,023 chip repeats once.This signal is also typically modulated with data bit, and wherein each data bit has the 20ms duration in modulated signal.
Fig. 1 illustrates typical case's application of positioning system over the ground, satellite 102a, 102b in the sight line of the next comfortable subscriber station 100 of 100 reception of the subscriber station in wireless communication system, the transmission of 102c, 102d, and 4 or the more time measurement of deriving from these transmission thus.Subscriber station 100 offers position determination entity (PDE) 104 by these measurements, and the latter measures from these position of determining this station.Alternatively, subscriber station 100 from then on information determine its oneself position.
Be correlated with and typically can be expressed as N
cwith upper execution integral time " I " of the product of M, wherein N
cthe coherent integration time, and the number of the coherent integration that M right and wrong coherently combine.For specific PN code, correlation is typically associated to define two-dimensional correlation function with the corresponding skew of PN code and Doppler's frequency groove.The peak value of this related function be positioned and with predetermined noise threshold comparison.This threshold value is typically chosen to make false alarm probability---probability of satellite transmission being detected mistakenly---in or lower than predetermined value.The time measurement of satellite is typically derived from the location of the non-side lobe peak the earliest that equals or exceeds this threshold value along code phase dimension.The Doppler measurement of subscriber station can be derived from the location of the non-side lobe peak the earliest that equals or exceeds this threshold value along Doppler's dimension.
Current subscriber station framework is being provided with significant constraint aspect the process of the definite signal in search location.For example, in shared RF framework, the core RF Circuits System in subscriber station is typically determined between RX path and voice/data communications sending and receiving path and is shared in location.Correspondingly, in SPS function, adopt and so share RF framework and can weaken the ability that share framework is so carried out the function of voice/data communications function or other shared public resources.Correspondingly, expectation reduces the use of these public resources of the location that is used for definite position.
Brief Description Of Drawings
With reference to the following drawings, describe indefiniteness and non-exhaustive embodiment, wherein unless otherwise, otherwise identical Reference numeral is indicated identical part in each accompanying drawing.
Fig. 1 is according to the schematic diagram of the positioning system over the ground of embodiment.
Fig. 2 is illustrating for determine the process flow diagram of process of the position of receiver from positioning system over the ground according to embodiment.
Fig. 3 be according to embodiment by searched to detect from the schematic diagram of the two-dimensional field of the signal of spacecraft transmitting.
Fig. 4 illustrate according to embodiment in order to avoid omitting the crossover of a defined amount chip in the search window of the peak value appear at segment boundaries place.
Fig. 5 be according to embodiment for the treatment of signal to determine the schematic diagram of the system of position location.
Fig. 6 is according to the schematic diagram of the subscriber station of an embodiment.
Describe in detail
Run through at least one embodiment that special characteristic, structure or characteristic that " embodiment " or " embodiment " of this instructions citation mean to describe in conjunction with this embodiment be included in theme required for protection.Thus, phrase " embodiment " or " embodiment " also optionally all quote from same embodiment in the appearance that runs through each place of this instructions.Further, these special characteristics, structure or characteristic can be combined in one or more embodiments.
According to specific embodiment, the whole bag of tricks described herein depends on that application can realize by various means.For example, so method can realize in hardware, firmware, software and/or its combination.In hardware is realized, for example processing unit can be at one or more special ICs (ASIC), digital signal processor (DSP), digital signal processor (DSPD), programmable logic device (PLD) (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, electron device, be designed to carry out realization in other electronic units of function described herein or its combination.
" instruction " of quoting from herein relates to the expression of one of expression or above logical operation.For example, instruction can be " machine-readable " by understanding for one or above data object being carried out to one or above operation by machine.Yet this is only an example of instruction, and theme required for protection is not defined in this respect.In another example, the instruction of citation herein can relate to encoded order, and it is carried out by the treatment circuit with the command set that comprises these orders that are encoded.So instruction can be encoded by the form of the accessible machine language of this processing unit.Again, these are only the examples of instruction, and theme required for protection is not defined in this respect.
" storage medium " of citation relates to the medium that can safeguard the expression that can be perceived by or above machine herein.For example, storage medium can comprise one or more for storing the memory device of machine readable instructions and/or information.So memory device can comprise and any in some media types comprises for example magnetic, light or semiconductor storage medium.So memory device also can comprise long-term, short-term, volatibility or the nonvolatile devices memory device of any type.Yet these are only the examples of storage medium, and theme required for protection is not defined in this respect.
Unless specifically noted in addition, otherwise as from following discussion by apparent, to understand and run through this instructions, utilization is such as " processing ", " computing ", " calculating ", " selection ", " formation ", " enable ", " inhibition ", " location ", " termination ", " sign ", " initiation ", " weighting ", " acquisition ", " main memory ", " maintenance ", " expression ", " estimation ", " reception ", " transmission ", " determine " and/or and so on the discussion of term refer to can be by such as computing machine or action and/or process that similarly the computing platform electronic computing device be carried out, the processor of this computing platform is handled and/or converted to this computing platform, storer, register, and/or other information storages, transmission, in reception and/or display device, be expressed as the data of physical electronic amount and/or the quantity of magnetism and/or other physical quantitys.Under the control of the machine readable instructions that so action and/or process can for example be stored by computing platform in storage medium, carry out.So machine readable instructions for example can comprise software or the firmware of for example, storing in being included as the storage medium of a part for computing platform (, be included as a part for treatment circuit or in outside for the treatment of circuit so).Further, unless specifically noted in addition, reference flow sheet or the process otherwise described also can be whole or in part carried out and/or are controlled by computing platform so herein.
" spacecraft " of citation (SV) relates to the object that the receiver that can go up earthward transmits herein.In a specific embodiment, so SV can comprise geostationary satellite.Alternatively, SV can be included in the satellite of advancing and moving with respect to tellurian fixed position on track.Yet these are only the examples of SV, and theme required for protection is not defined in this respect.
" location " of citation relates to the information being associated according to the whereabouts of reference point with target or things herein.At this for example, so location can be represented as geographic coordinate, such as latitude and longitude.Alternatively, so location can be represented as street address, county borough or other government's administrations, postal code and/or and so on.Yet these are only how to represent the example of location according to specific embodiment, and theme required for protection is not defined in these areas.
Location described herein determines that technology can be used for various cordless communication networks, such as wireless wide area network (WWAN), WLAN (wireless local area network) (WLAN), wireless personal-area network (WPAN), etc.Term " network " and " system " are used in this article interchangeably.WWAN can be CDMA (CDMA) network, time division multiple access (TDMA) (TDMA) network, frequency division multiple access (FDMA) network, OFDM (Orthogonal Frequency Division Multiplexing) (OFDMA) network, single-carrier frequency division multiple access (SC-FDMA) network, etc.Cdma network can be realized one or above radio access technologies (RAT), such as cdma2000, wideband CDMA (W-CDMA) etc., and this has only enumerated a few radiotelegraphy.At this, cdma2000 can comprise according to the technology of IS-95, IS-2000 and IS-856 standard implementation.TDMA network can be realized global system for mobile communications (GSM), digital advanced mobile phone system (D-AMPS) or other certain RAT.GSM and W-CDMA describe in the document of the alliance from " third generation partnership projects (3GPP) " by name.Cdma2000 describes in the document of the alliance from " third generation partnership projects 2 (3GPP2) " by name.3GPP and 3GPP2 document are that the public is retrievable.For example, WLAN can comprise IEEE802.11x network, and WPAN can comprise blueteeth network, IEEE802.15x.So location described herein determines that technology also can be used for the combination in any of WWAN, WLAN and/or WPAN.
According to an embodiment, equipment and/or the system at least in part signal based on receiving from each SV are estimated its location.Particularly, so equipment and/or system can obtain and comprise that approximate " pseudorange " of each SV of being associated and the distance between navigational satellite receiver measure.In a particular embodiment, so pseudorange can processed from one or as the receiver place of the signal of the SV of global position system (SPS) part, determine above.So SPS can comprise, for example GPS (GPS), Galileo, Glonass, use are from the system of the satellite of the combination of these systems or any SPS developing in the future.As used in this article, also by understanding SPS, in proper suitable place, comprise pseudolite systems---broadcast the system of the transmitter based on ground of PN code or other ranging codes (being similar to GPS or cdma cellular signal) or the combination of use satellite and pseudo satellite, pseudolite.For determining its position, satellite navigation receiver can acquire pseudo range measurement and their positions when transmitting of three or above satellite.Know the orbit parameter of these SV, can calculate these positions at any time.The time that pseudo range measurement subsequently can be at least in part propagates into this receiver based on signal from SV is multiplied by the light velocity and determines.Although technology described herein can be used as providing according to the definite realization in location in the SPS of the GPS type of the particular instantiation explanation of specific embodiment; it should be understood that these technology also may be used on the SPS of other types, and theme required for protection is not defined in this respect.
According to an embodiment, pseudo range measurement can comprise the single measurement of the distance between navigation neceiver and SV.At this correspondingly, the accuracy of measuring to the initial pseudo of specific SV can by obtain one or above follow-up pseudo range measurement with replace and/or statistics measure combined raising with initial pseudo.Therefore, in the present context, so pseudo range measurement can also comprise the repeatedly individual pseudo range measurement based on taked estimates at least in part navigation neceiver and the distance between SV.
The accuracy of the estimation of the location based on pseudo range measurement can determined aspect the accuracy of pseudo range measurement at least in part.According to an embodiment, although theme required for protection is not defined in this respect, satellite receiver can continue attempt to improve the accuracy that is associated with pseudo range measurement until can estimate so location of enough accuracys.In satellite receiver, estimated to have behind the location of enough accuracys, its can stop attempt improving the accuracy of pseudo range measurement and by the resource for obtaining pseudo range measurement for other functions.
" quantitative assessment of accuracy " quoted from herein relates to the quantisation metric being associated with the accuracy of value estimation.For example, so quantitative assessment of accuracy can comprise with the value based on or above measurement and estimates the variance being associated.In another embodiment, so quantitative assessment of accuracy can comprise with the value based on or above measurement and estimates the root-mean-square error being associated.In a particular embodiment, although theme required for protection is not defined in this respect, so quantitative assessment of accuracy can relate to the quantisation metric being associated with the accuracy of pseudo range measurement.Yet these are only some examples of quantitative assessment of accuracy, and theme required for protection is not defined in these areas.
Although the accuracy of pseudo range measurement may affect from the accuracy of the estimation location that so pseudo range measurement is derived, and also may affect so accuracy of location estimation for generating so location of each SV of pseudo range measurement.In a particular embodiment, in track some SV about providing impact " geometric shape " of the accuracy of the estimation location of this receiver of the pseudo range measurement based on to described these SV at least in part each other and/or about the location of receiver.In one embodiment, so geometric shape can be expressed about apparent azimuth angle and the elevation angle of the location of receiver by the location of each SV at least in part.Yet this is only how to express so example of geometric shape according to specific embodiment, and theme required for protection is not defined in this respect.
In brief, an embodiment relates to trial raising for the process of the accuracy of the pseudo range measurement of the location of estimated position.With to for estimating that the accuracy quantitative estimation that so a plurality of pseudo range measurements of each SV of position location are associated can carry out weighting according to the geometric shape being associated with these SV.The process of attempting the accuracy of raising pseudo range measurement can be terminated in response to the quantitative evaluation through weighting or exit subsequently.Yet this is only exemplary embodiments, and theme required for protection is not defined in this respect.
In alternative embodiment, the pseudo range measurement to spacecraft SV at place, a certain location can stop and determine with the first search.Can be in response at least some and the accuracy of coming quantitative evaluation that the pseudo range measurement of weighting is associated optionally to adopt the second search to stop to increase the number of pseudo range measurement and/or increase pseudo range measurement according to the geometric shape that be associated with these SV.Again, this is only example embodiment, and theme required for protection is not defined in this respect.
Fig. 2 is illustrating for from the process flow diagram of the process 200 of the location of positioning system estimated position over the ground according to embodiment.In one embodiment, process 200 can be carried out by comprising for receiving from the subscriber device of the receiver of the signal of SV.So subscriber device can be communicated by letter with PDE by for example terrestrial wireless communication link.So subscriber device can adopt common process resource for the signal based on receiving from each SV at least in part, to determine the location of its position, and for carry out task and/or the function of all like voice and/or data communication and so on by wireless communication link.So equipment can adopt its at least some signals that receive from each SV with basis of processing resource to estimate its location during " stop ".In processing of retention period so, can be provided to the pseudo range measurement of each SV to use when estimating to locate by technology known to a person of ordinary skill in the art.In a particular embodiment; although theme required for protection is not defined in this respect; if but a certain equipment at frame 204 places, carry out first and by enough accuracys, estimated its location after stopping, this equipment may not carried out at frame 220 places for estimate the second stop of its position with high accuracy more.By not adopting the second stop, so subscriber device can be carried out common process resource deployment other platform features and shorten the fixing needed time of location that obtains for substituting.
In alternative embodiment, the some parts of process 200 can be carried out by the equipment of communicating by letter with subscriber station such as PDE etc.For example, subscriber station can provide pseudo range measurement (for example by terrestrial wireless communication link) to PDE, and this PDE at least in part the pseudo range measurement based on received estimate the location of subscriber station.In addition, so PDE can adopt the some parts of process 200 to determine whether subscriber station will be carried out second at frame 220 places and stop as discussed below, and correspondingly to this subscriber station, signals.
According to embodiment, stop can adopt specifically " search pattern " for obtaining the pseudo range measurement being characterized by set of system parameters.As explanation as illustrated in the table 1 of following associating specific example, the set of system parameters like this that characterizes particular search mode can comprise search frequency band, frequently groove number, the number of the number of code groove, coherent integration time, non-coherent integration section, total mark time, detection threshold (for example, based on C/N
o) and sensitivity (for example, based on C/N
o) in one or more.Yet these are only some examples that possible characterize the systematic parameter of search pattern, and theme required for protection is not defined in these areas.In a particular embodiment, the stop of carrying out at frame 204 and 220 places can adopt identical search pattern, but in different embodiment, depends on that specific implementation preference also can adopt different search patterns.
Should understand, the signal receiving from some SV at an equipment place may be stronger than the signal receiving from other SV, owing to for example having adopted different transmitted power levels, physical obstacle to the different distance between the blocking-up of some signal and this equipment and different SV at different SV place.When the PN coded signal detecting from SV, the appearance of the crosscorrelation that the PN coded signal that frame 206 can adopt signal to process to remove to be launched by other SV causes.
According to embodiment, although theme required for protection is not defined in this respect, may there is finite population (" P " is individual) SV in the sight line of equipment or be equipment " visible ".In a particular embodiment, although theme required for protection is not defined in this respect, at frame 208 places, subscriber device can be determined P according to auxiliary (AA) message of catching receiving from PDE by for example terrestrial wireless communication link.So subscriber device also can identify in P SV of this group the enough numbers of the SV of strong measurement (" Q ") that produced from it in first retention period at frame 204 places.In one embodiment, as license to the people's such as Rowitch the U.S. Patent No. 6 that is entitled as " Procedure for Searching for Position Determination Signals Using a Plurality ofSearch Modes (for coming searching position to determine the process of signal with a plurality of search patterns) ", 873, illustrated explanation in 910, the frame 208 at least in part signal based on from the detected SV from being associated resulting noise is recently determined measured intensity.In alternative embodiment, so measured intensity can be the quantitative assessment of accuracy based on being associated with this measurement at least in part.Yet these are only how to determine the example of the intensity of pseudo range measurement according to specific embodiment, and theme required for protection is not defined in this respect.
If an equipment has produced to it number P that enough numbers of the SV of strong measurement " Q " equals the SV of this equipment visibility, as at rhombus 210 places determined, process 200 can stop or exit at 224 places, so makes at frame 220 places, not carry out second and stops.Otherwise, if being less than, Q closes the minimal amount MIN_Q that needs measurement, rhombus 202 can initiate at frame 220 places so second to stop.
If determine that at rhombus 212 places Q meets or surpass MIN_Q, the quantitative assessment of accuracy of the pseudo range measurement of at least some acquisitions these SV based on from this equipment visibility and the geometric shape being associated with these SV are determined quantification location accuracy metric to frame 214 to 218 at least in part.So location accuracy metric can compare to determine whether that at frame 220 places, carrying out second stops at rhombus 222 places and threshold value THRESHOLD subsequently.Shown at this particular illustrated embodiment, process 200 can in response to rhombus 222 place's location accuracy metric and THRESHOLD relatively by do not carry out the second process that stops the accuracy that stops improving pseudo range measurement at frame 220 places.
According to specific embodiment; although theme required for protection is not defined in this respect; but location accuracy metric (for example, by rhombus 222 places and THRESHOLD comparison) can be the quantitative evaluation of the accuracy that the pseudo range measurement based on obtaining from the first stop at frame 204 places is associated at least in part.Particularly, so location accuracy metric can be at least in part based on so according to for determining that geometric shape that each SV of these pseudo range measurements is associated carrys out the quantitative evaluation of weighting.In a particular embodiment, although theme required for protection is not defined in this respect, frame 218 can be using location accuracy metric as following relation (1) and (2) in the decay of the horizontal accuracy through weighting (WHDOP) expressed determine:
∑
xy＝[(G
TWG)
-1]
2x2 (2)
Wherein:
G comprises the matrix of quantification satellite geometry form on the impact of the accuracy of position location estimation; And
W comprises having the matrix of the element of the quantitative evaluation of the accuracy of the pseudo range measurement based on for definite this position location estimation at least in part.
Operator [:]
2x2take 2x2 submatrix (for example, (G of this independent variable upper left
twG)
-1can comprise 4x4 matrix in a particular embodiment).At frame 214 places, matrix G can be:
Wherein for the visible SV of the receiver at equipment place
1, SV
2... SV
n, α
i=SV
ithe elevation angle, β
i=SV
iposition angle.At this, according to specific embodiment, α
iand β
imay with AA message, from PDE or other equipment, receive by terrestrial wireless communication link.Alternatively, equipment can for example be used the phased array signals processing signal that always main lobe at comfortable device antenna place detects to determine independently so angle.Yet these are only the examples how equipment obtains the information of describing the geometric shape being associated with SV, and theme required for protection is not defined in these areas.
According to a specific embodiment, the variance that the quantitative assessment of accuracy being associated with pseudo range measurement can comprise with so pseudo range measurement is associated.At this, frame 214 can be determined matrix W as follows:
σ wherein
2 1, σ
2 2... σ
2 n=with the visible SV of receiver at equipment place
1, SV
2... SV
nthe variance of the pseudo range measurement being associated.
In alternative embodiment, the quantitative assessment of accuracy being associated with pseudo range measurement can comprise the root-mean-square error (RMSE) being associated with pseudo range measurement.In this alternative embodiment, frame 214 can be determined matrix W as follows:
RMSE wherein
1, RMSE
2... RMSE
ncomprise the visible SV of receiver with the equipment place that coexists
1, SV
2... SV
nthe root-mean-square error that the pseudo range measurement being associated is associated.
At this, frame 214 can be accessed by SV from the look-up table of storer
ithe elevation angle (for example, α
i) and this signal such as C/N
ostrength assessment index be RMSE
ithe value precomputing, wherein C represents from SV
ithe intensity of the PN coded signal receiving, and N
obe illustrated in the noise power at receiver place.Yet this is only how to obtain for determining the example of the root-mean-square error of WHDOP according to specific embodiment, and theme required for protection is not defined in this respect.
Should be understood that the value that depends on the element-specific in matrix G and W, express (G
twG)
-1expressing G
twG does not provide in the situation of invertible matrix may provide uncertain result.Correspondingly, if frame 216 can not calculate (G
twG)
-1(for example,, owing to expressing G
twG is irreversible), process 200 can initiate to carry out at frame 220 places the second stop.
Should observe according in the specific embodiment of relation (1), WHDOP has set forth the measurement that lateral error distributes and has had the units such as rice.Correspondingly, at rhombus 222 places, to express similarly with the unit of the value useable linear length of the THRESHOLD of WHDOP comparison.The error of pseudo range measurement is in the specific embodiment of Gaussian distribution therein, and horizontal position components can comprise Gaussian random variable.Yet, total lateral error (for example, (East_error
2+ North_error
2)
1/2) can to have degree of freedom be that 2 card side distributes, wherein equiprobable isoline is oval-shaped.Yet circular error probability model can approach as follows so and distribute:
CEP
50≈0.75·WHDOP
CEP
95≈2.00·WHDOP
CEP wherein
xdefinition is when catching the radius of a circle of the X% of error distribution when correctly orientating center as.In a particular embodiment, performance requirement can be specified specific CEP
xcertain radius (for example,, in units).Correspondingly, can according to the empirical relationship between CEP and WHDOP for about closing of center, need the errors of centration probability of radius and Z% determine at rhombus 222 places will with the value of the THRESHOLD of WHDOP comparison.
According to an embodiment, the particular value of THRESHOLD can be selected in the balance between the positioning time (TTF) that the accuracy based on location estimation is estimated therewith at least in part.Depend on that the tolerance that reduces location estimation accuracy may increase the required TTF of this location estimation such as some factors such as the intensity of the signal receiving from each SV and noises.Equally, the tolerance of increase location estimation accuracy can reduce the TTF of this location estimation.In a particular embodiment, although theme required for protection is not defined in this respect, the value of THRESHOLD can be selected with respect to the experience measurement of the accuracy of the location estimation of TTF based on evaluation under multiple condition at least in part.
In one embodiment, can select the value of THRESHOLD to optimize the relation between probability variable, such as for example, although even pseudo range measurement accuracy in the situation that do not have second of frame 220 places stop also enough not compared with the probability pseudo range measurement accuracy of early stopping at premature termination and to abandon at second probability stopping at frame 220 places and correctly determine be to carry out second to stop abandon the probability of the second stop in unwanted situation at frame 220 places under second of frame 220 places stop with regard to inadequate situation not.Yet, these be only can be optimised when determining the value of THRESHOLD for specific embodiment probability variable example, and theme required for protection is not defined in this respect.
As already pointed out, although theme required for protection is not defined in this respect, the stop of carrying out at frame 204 and 220 places can be processed the signal receiving at receiver place according to the two-dimensional field of explanation as illustrated in as Fig. 3.As illustrated explanation in above-mentioned U.S. Patent No. 6,873,910, so 2 dimensional region or " window " can be searched to detect the pseudo range measurement that determine this SV from the signal of SV transmitting.
According to an embodiment, at receiver place, may can want searched to find out the specific last set window parameter correlation connection of the code phase of this SV and the 2 dimensional region of the false speech of Doppler frequency with definition by visible SV (for example,, as indicated) in AA message.In the realization illustrating at Fig. 3, the search window parameter of SV comprises that code searches for window size WIN_SIZE mutually
cP, code phase window center WIN_CENT
cP, doppler searching window size WIN_SIZE
dOPP, and Doppler's window center WIN_CENT
dOPP.At the entity that will determine its position, be to defer in the situation of the subscriber station in the wireless communication system of IS-801, the AA message that these parameters can be provided to this subscriber station by PDE is indicated.
It is transverse axis that the two-dimensional search space of the SV illustrating in Fig. 3 illustrates a yard phase axle, and Doppler frequency axle is the longitudinal axis, but this appointment is arbitrarily and can be reversed.Code is searched for mutually Chuan center and is quoted as WIN_CENT
cP, and the size that code is searched for window is mutually quoted as WIN_SIZE
cP.Doppler frequency search Chuan center is quoted as WIN_CENT
dOPP, and the size of Doppler frequency search window is quoted as WIN_SIZE
dOPP.
As already pointed out, in the stop at frame 204 and 220 places, can stop any in some " search patterns " that close the systematic parameter that the particular characteristic that needs and/or available particular procedure resource customize and form according to being illustrated as search.Depend on particular search mode and as explanation as illustrated in Fig. 3, search volume can be divided into a plurality of sections of 1202a, 1202b, 1202c, the scope of its each scope by Doppler frequency and code phase characterizes.In an example of following table 1 illustrated explanation, the scope of the frequency being associated with section is +/-250Hz for search pattern 0,1 and 2, and is +/-62.5Hz for search pattern 3, and the scope of the code phase being associated with section is 32 chips.In this specific example, the scope that characterizes the frequency of a section is divided into 20 grooves, and the scope that characterizes the code phase of a section is divided into 64 grooves.
| Pattern | Search frequency band (Hz) | Frequency groove | Code groove | The coherent integration time (ms) | Non-coherent integration | The total mark time (ms) | Detection threshold C/N o(dB-Hz) | Sensitivity C/N o(dB-Hz) |
| 0 | +/-250 | 20 | 64 | 20 | 1 | 20 | 29.8 | 31.0 |
| 1 | +/-250 | 20 | 64 | 20 | 4 | 80 | 25.0 | 26.4 |
| 2 | +/-250 | 20 | 64 | 20 | 44 | 880 | 18.1 | 19.2 |
| 4 | +/-62.5 | 20 | 64 | 80 | 22 | 1760 | 14.0 | 15.45 |
Table 1
According to embodiment, the scope that characterizes the code phase of section may equal the channel capacity that single channel skims over the correlator that will search for of passing through of this section.One wherein channel capacity be in the specific example of for example 32 chips, the scope that characterizes the code phase of section can be equally also 32 chips, it is also possible still should understanding other examples.
As explanation as illustrated in Fig. 4, can make each a section of crossover defined amount chip to avoid omitting the peak value that appears at segment boundary place.At this, the tail end of section 1202a and a front end crossover Δ chip of section 1202b, and the tail end of section 1202b similarly with a front end crossover Δ chip of section 1202c.Due to the expense owing to this crossover, the effective range of the code phase of being shown by segment table may be less than channel capacity.At this crossover, be in the situation of for example 4 chips, the effective range of the code phase of being shown by segment table may be 28 chips.
In Fig. 5, illustrate and for searching position in specified time period, determine the system of signal according to specific embodiment.Yet, this be only according to a specific embodiment can determine the example of the system of signal by searching position, and can use other system and not deviate from theme required for protection.As according to explanation as illustrated in Fig. 6 of a specific embodiment, so system can comprise there is processor 1302, the computing platform of storer 1304 and correlator 1306.The signal that correlator 1306 can be adapted to from being provided by receiver (not shown) produces or related function direct or that processed by processor 1302 by storer 1304.Correlator 1306 can be realized in the combination of hardware, software or hardware and software.Yet these are only how to realize the example of correlator according to specific embodiment, and theme required for protection is not defined in this respect.
According to an embodiment, storer 1304 can storage of processor 1302 addressable and executable machine readable instructions so that at least a portion of computing platform to be provided.At this, with processor 1302 that so machine readable instructions is combined can be adapted to carry out more than with reference to all or some part of the process 200 of figure 2 illustrated explanations.In a particular embodiment; although theme required for protection is not defined in these areas, processor 1302 can direct correlator 1306 as illustrated in above explanatorily searching position determine signal and derive measurement from the related function being generated by correlator 1306.
With reference to figure 5, wireless set 1406 can be adapted to the modulate baseband information RF carrier signal of using such as voice or data, and the modulated RF carrier wave of demodulation is to obtain so base-band information.Antenna 1410 can be adapted to be launched modulated RF carrier wave and on wireless communication link, receives modulated RF carrier wave on wireless communication link.
The related function relevant to pilot tone of the information inference about pilot signal from being provided by transceiver 1406 also can be provided correlator 1418.This information can be used for obtaining radio communication service by subscriber station.
In a particular embodiment, the CPU1402 at subscriber station place can be at least in part based on estimate the location of this subscriber station as the signal explanatorily receiving from each SV in the retention period as illustrated in above.CPU1402 also can be adapted to and estimate the location of subscriber station so and as explanatorily determined as illustrated in above and the quantitative evaluation of the accuracy that pseudo range measurement such as RMSE is associated.Addedly, CPU1402 can be at least in part determines whether to stop for improving the process of the accuracy of pseudo range measurement based on quantitative assessment of accuracy so.Alternatively, subscriber station can provide to PDE (not shown) the quantitative evaluation of pseudo range measurement and accuracy thereof.So PDE can estimate the location of this subscriber station subsequently at least in part based on these pseudo range measurements.Further, explanation as illustrated in above associating alternative embodiment, so PDE also can determine when the process that stops improving by carrying out subsequent search dwell the accuracy of location estimation.Yet should understand; these be only according to specific embodiment for estimating location, determine the quantitative evaluation of pseudo range measurement so and stop for improving the example of system of process of the accuracy of pseudo range measurement based on pseudo range measurement at least in part, and theme required for protection is not defined in these areas.
Although illustrated and described the technology incidence of criminal offenses that is thought of as at present example embodiment, one skilled in the art will understand that and can make other various modifications and alternative equivalence techniques incidence of criminal offenses and not depart from theme required for protection.Addedly, can make many modifications so that particular situation is suitable for the instruction of theme required for protection and does not depart from central idea described herein.Therefore, theme required for protection is not intended to be defined to disclosed specific embodiment, and contrary theme required for protection like this also can comprise all embodiment in the scope that falls into appended claims and equivalence techniques incidence of criminal offenses thereof.
Claims (22)
1. the method for locating, comprising:
Information based on receiving in the first retention period is determined a plurality of pseudo range measurements of locating spacecraft (SV) in location at least in part;
Determine the quantitative evaluation of the accuracy being associated with described a plurality of pseudo range measurements;
At least some that carry out quantitative evaluation described in weighting according to the geometric shape being associated with described SV are to generate the quantitative evaluation through weighting;
Based on the described quantitative evaluation through weighting, determine location accuracy metric at least in part; And
Based on described location accuracy metric, optionally adopt the second described accuracy that stops to improve described a plurality of pseudo range measurements, wherein said second stops and described first stops the different search patterns of employing.
2. the method for claim 1, is characterized in that, also comprises that the root-mean-square error based on being associated with described pseudo range measurement is estimated the described quantitative evaluation of determining the described accuracy being associated with described a plurality of pseudo range measurements at least in part.
3. the method for claim 1, is characterized in that, also comprises that the elevation angle based on being associated with the location of described SV at least in part determines at least some described weighting of described measures of quantization.
4. method as claimed in claim 3, is characterized in that, also comprises that the position angle based on being associated with the described location of described SV at least in part determines at least some described weighting of described measures of quantization.
5. the method for claim 1, is characterized in that, the described weighting of at least some of described quantitative evaluation comprises the horizontal accuracy decay through weighting.
6. the method for claim 1, is characterized in that, also comprises and processes in described the second retention period at least some signals that receive from described SV.
7. the equipment for locating, comprising:
For the information based on receiving in the first retention period at least in part, determine the device of a plurality of pseudo range measurements of locating spacecraft (SV) in location;
For determining the device of the quantitative evaluation of the accuracy being associated with described a plurality of pseudo range measurements;
For according to the geometric shape that is associated with described SV, carry out quantitative evaluation described in weighting at least some to generate the device through the quantitative evaluation of weighting;
For determine at least in part the device of location accuracy metric based on the described quantitative evaluation through weighting; And
For optionally adopt the second device that stops to improve the described accuracy of described a plurality of pseudo range measurements based on described location accuracy metric, wherein said second stops and described first stops the different search patterns of employing.
8. equipment as claimed in claim 7, is characterized in that, also comprises the device of estimating to determine the described quantitative evaluation of the described accuracy being associated with described a plurality of pseudo range measurements for the root-mean-square error based on being associated with described pseudo range measurement at least in part.
9. equipment as claimed in claim 7, is characterized in that, also comprises at least some the device of described weighting of determining described measures of quantization for the elevation angle based on being associated with the location of described SV at least in part.
10. equipment as claimed in claim 9, is characterized in that, also comprises at least some the device of described weighting of determining described measures of quantization for the position angle based on being associated with the described location of described SV at least in part.
11. equipment as claimed in claim 7, is characterized in that, the described weighting of at least some of described quantitative evaluation comprises the horizontal accuracy decay through weighting.
12. equipment as claimed in claim 7, is characterized in that, also comprise: for the treatment of the device at least some signals that receive from described SV of described the second retention period.
13. 1 kinds of methods for locating in subscriber unit, comprising:
On terrestrial wireless communication link, receive the assistance messages of catching from position determination entity (PDE), described in catch the information that assistance messages comprises the geometric shape that indication is associated with spacecraft (SV);
Information based on receiving in the first retention period is determined at least some a plurality of pseudo range measurements in described SV at least in part;
Determine the quantitative evaluation of the accuracy being associated with described a plurality of pseudo range measurements;
At least some that carry out quantitative evaluation described in weighting according to the geometric shape being associated with described SV are to generate the quantitative evaluation through weighting;
Based on the described quantitative evaluation through weighting, determine location accuracy metric at least in part; And
Based on described location accuracy metric, optionally adopt the second described accuracy that stops to improve described a plurality of pseudo range measurements, wherein said second stops and described first stops the different search patterns of employing.
14. 1 kinds of methods for locating in position determination entity, comprising:
Use receiver in data link, from subscriber station, to receive the pseudo range measurement of spacecraft (SV), described pseudo range measurement is that the information based on receiving in the first retention period is determined at least in part;
Determine with described in the quantitative evaluation of at least some accuracys that are associated of the pseudo range measurement that receives;
At least some that carry out quantitative evaluation described in weighting according to the geometric shape being associated with described SV are to generate the quantitative evaluation through weighting;
Based on the described quantitative evaluation through weighting, determine location accuracy metric at least in part; And
Based on described location accuracy metric, optionally adopt the second described accuracy that stops to improve described a plurality of pseudo range measurements, wherein said second stops and described first stops the different search patterns of employing.
15. methods as claimed in claim 14, is characterized in that, also comprise: the root-mean-square error based on being associated with described pseudo range measurement estimates to determine the described quantitative evaluation of the described accuracy being associated with described a plurality of pseudo range measurements at least in part.
16. methods as claimed in claim 14, is characterized in that, also comprise: at least some described weighting of described measures of quantization is determined at the elevation angle based on being associated with the location of described SV at least in part.
17. methods as claimed in claim 16, is characterized in that, also comprise: at least some described weighting of described measures of quantization is determined at the position angle based on being associated with the described location of described SV at least in part.
18. 1 kinds of methods for locating at subscriber station, comprising:
Use receiver to receive from catching of data link auxiliary (AA) message, described AA message comprises the information of the geometric shape that indication is associated with spacecraft (SV);
Information based on receiving in the first retention period is determined at least some a plurality of pseudo range measurements in described SV at least in part;
Determine the quantitative evaluation of the accuracy being associated with described a plurality of pseudo range measurements;
At least some that carry out quantitative evaluation described in weighting according to the geometric shape being associated with described SV are to generate the quantitative evaluation through weighting;
Based on the described quantitative evaluation through weighting, determine location accuracy metric at least in part; And
Based on described location accuracy metric, optionally adopt the second described accuracy that stops to improve described a plurality of pseudo range measurements, wherein said second stops and described first stops the different search patterns of employing.
19. methods as claimed in claim 18, is characterized in that, also comprise: the root-mean-square error based on being associated with described pseudo range measurement estimates to determine the described quantitative evaluation of the described accuracy being associated with described a plurality of pseudo range measurements at least in part.
20. methods as claimed in claim 18, is characterized in that, also comprise: based on approaching of the elevation angle being associated with location described SV that receive in described AA message, determine at least in part at least some described weighting of described measures of quantization.
21. methods as claimed in claim 20, is characterized in that, also comprise: based on be associated with described location described SV azimuthal that receive in described AA message, approach at least some the described weighting of determining described measures of quantization at least in part.
22. methods as claimed in claim 18, is characterized in that, also comprise: process in described the second retention period at least some signals that receive from described SV.
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| PCT/US2007/069306 WO2008060694A2 (en) | 2006-05-19 | 2007-05-18 | System and/or method for determining sufficiency of pseudorange measurements |
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Also Published As
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| KR101070211B1 (en) | 2011-10-06 |
| EP2021819A2 (en) | 2009-02-11 |
| EP2021819B1 (en) | 2013-02-13 |
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| KR20090018146A (en) | 2009-02-19 |
| US20100328149A1 (en) | 2010-12-30 |
| US7656348B2 (en) | 2010-02-02 |
| WO2008060694A3 (en) | 2008-09-04 |
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| US7978131B2 (en) | 2011-07-12 |
| JP5777852B2 (en) | 2015-09-09 |
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| JP5985690B2 (en) | 2016-09-06 |
| WO2008060694A2 (en) | 2008-05-22 |
| US20070268177A1 (en) | 2007-11-22 |
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